EP3982519A1 - Aktuator und stativstruktur damit - Google Patents

Aktuator und stativstruktur damit Download PDF

Info

Publication number
EP3982519A1
EP3982519A1 EP20855991.4A EP20855991A EP3982519A1 EP 3982519 A1 EP3982519 A1 EP 3982519A1 EP 20855991 A EP20855991 A EP 20855991A EP 3982519 A1 EP3982519 A1 EP 3982519A1
Authority
EP
European Patent Office
Prior art keywords
actuator
piston
pipe
rolling bearing
roller followers
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP20855991.4A
Other languages
English (en)
French (fr)
Other versions
EP3982519A4 (de
EP3982519B1 (de
Inventor
Eisei IN
Tomonori Uchida
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Saginomiya Seisakusho Inc
Original Assignee
Saginomiya Seisakusho Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Saginomiya Seisakusho Inc filed Critical Saginomiya Seisakusho Inc
Publication of EP3982519A1 publication Critical patent/EP3982519A1/de
Publication of EP3982519A4 publication Critical patent/EP3982519A4/de
Application granted granted Critical
Publication of EP3982519B1 publication Critical patent/EP3982519B1/de
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
    • F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
    • F16H25/20—Screw mechanisms
    • F16H25/22—Screw mechanisms with balls, rollers, or similar members between the co-operating parts; Elements essential to the use of such members
    • F16H25/2204—Screw mechanisms with balls, rollers, or similar members between the co-operating parts; Elements essential to the use of such members with balls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B06—GENERATING OR TRANSMITTING MECHANICAL VIBRATIONS IN GENERAL
    • B06B—METHODS OR APPARATUS FOR GENERATING OR TRANSMITTING MECHANICAL VIBRATIONS OF INFRASONIC, SONIC, OR ULTRASONIC FREQUENCY, e.g. FOR PERFORMING MECHANICAL WORK IN GENERAL
    • B06B1/00—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency
    • B06B1/10—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency making use of mechanical energy
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/20—Undercarriages with or without wheels
    • F16M11/2092—Undercarriages with or without wheels comprising means allowing depth adjustment, i.e. forward-backward translation of the head relatively to the undercarriage
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B06—GENERATING OR TRANSMITTING MECHANICAL VIBRATIONS IN GENERAL
    • B06B—METHODS OR APPARATUS FOR GENERATING OR TRANSMITTING MECHANICAL VIBRATIONS OF INFRASONIC, SONIC, OR ULTRASONIC FREQUENCY, e.g. FOR PERFORMING MECHANICAL WORK IN GENERAL
    • B06B1/00—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency
    • B06B1/02—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency making use of electrical energy
    • B06B1/04—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency making use of electrical energy operating with electromagnetism
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B06—GENERATING OR TRANSMITTING MECHANICAL VIBRATIONS IN GENERAL
    • B06B—METHODS OR APPARATUS FOR GENERATING OR TRANSMITTING MECHANICAL VIBRATIONS OF INFRASONIC, SONIC, OR ULTRASONIC FREQUENCY, e.g. FOR PERFORMING MECHANICAL WORK IN GENERAL
    • B06B1/00—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency
    • B06B1/10—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency making use of mechanical energy
    • B06B1/12—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency making use of mechanical energy operating with systems involving reciprocating masses
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C13/00—Rolls, drums, discs, or the like; Bearings or mountings therefor
    • F16C13/006—Guiding rollers, wheels or the like, formed by or on the outer element of a single bearing or bearing unit, e.g. two adjacent bearings, whose ratio of length to diameter is generally less than one
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C29/00—Bearings for parts moving only linearly
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C29/00—Bearings for parts moving only linearly
    • F16C29/04—Ball or roller bearings
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
    • F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
    • F16H25/20—Screw mechanisms
    • F16H25/24—Elements essential to such mechanisms, e.g. screws, nuts
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B9/00—Simulators for teaching or training purposes
    • G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
    • G09B9/04—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of land vehicles
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B9/00—Simulators for teaching or training purposes
    • G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
    • G09B9/04—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of land vehicles
    • G09B9/042—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of land vehicles providing simulation in a real vehicle
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/06—Means for converting reciprocating motion into rotary motion or vice versa
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0208—Compliance devices
    • B25J17/0216—Compliance devices comprising a stewart mechanism
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C2322/00—Apparatus used in shaping articles
    • F16C2322/39—General buildup of machine tools, e.g. spindles, slides, actuators
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
    • F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
    • F16H25/20—Screw mechanisms
    • F16H2025/204—Axial sliding means, i.e. for rotary support and axial guiding of nut or screw shaft
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
    • F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
    • F16H25/20—Screw mechanisms
    • F16H2025/2062—Arrangements for driving the actuator
    • F16H2025/2081—Parallel arrangement of drive motor to screw axis
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
    • F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
    • F16H25/20—Screw mechanisms
    • F16H25/2021—Screw mechanisms with means for avoiding overloading
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K5/00—Casings; Enclosures; Supports
    • H02K5/04—Casings or enclosures characterised by the shape, form or construction thereof
    • H02K5/16—Means for supporting bearings, e.g. insulating supports or means for fitting bearings in the bearing-shields
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K5/00—Casings; Enclosures; Supports
    • H02K5/24—Casings; Enclosures; Supports specially adapted for suppression or reduction of noise or vibrations

Definitions

  • the present invention relates to an actuator and a tripod structure equipped therewith.
  • a driving simulator disclosed in Patent Literature 1 conventionally has been known. As shown in FIG. 1 described later, a vibration system in such a driving simulator mainly includes a hexapod (Hexapod: 6 axes) structure and a tripod (Tripod: 3 axes) structure.
  • the hexapod structure also called a Stewart platform, is configured to support a top plate whose top is provided with a cockpit using six actuators.
  • Such a hexapod structure is configured to reproduce, not only translational motions in three directions of X, Y, and Z axes consisting of the X and Y axes set on a sliding floor plane and the Z axis perpendicular to the plane, but also rotary motions around each axis, that is, tilt motions with 6 degrees of freedom consisting of motions in a forward-backward direction, a left-right direction, and an up-down direction, a roll motion, a pitch motion, and a yaw motion, so that a driving state can be simulated based on a driving operation by an operator.
  • three actuators are connected to a moving base on which the hexapod structure described above is mounted so as to be separated from each other at a central angle of 120° in an initial state as viewed from above, and the moving base can move in an X-Y direction on the sliding floor and can rotate around the Z axis (yaw motion).
  • a small-amplitude motion at a relatively high frequency is reproduced by the hexapod structure, and a large-amplitude motion at a relatively low frequency is reproduced by the tripod structure.
  • an electric actuator as disclosed in Patent Literature 2 is used.
  • such an actuator includes, in a pipe, at least a ball screw used as a feed screw, a conversion nut used as a feed nut, and a piston fixed integrally to the conversion nut to convert the rotary motion of the ball screw into the linear motion of the piston.
  • a sliding bearing has been used as a support mechanism provided on a tip of the pipe to hold the piston movably.
  • a load in a lateral direction orthogonal to an axis that is, a moment caused by its own weight due to being installed horizontally with respect to gravity, or a lateral moment or the like generated by driving another actuator generates friction between a support unit (a sliding bearing unit 26 in this case) of a piston 24 shown in FIG. 2(c) and a support unit of a conversion nut 23 shown in FIG. 2(b) .
  • the frictional force as shown in FIG. 7(a) described later, generates a shock in acceleration at the time of a turn, and in the case of a boarding type driving simulator, gives a driver uncomfortableness depending on a test scenario. As a result, an evaluation may be affected.
  • a structure which uses a ball spline instead of a sliding bearing to reduce friction is also known as a support mechanism for the piston.
  • the load may be concentrated on the ball of the spline at a tip portion, and the portion may be damaged.
  • a method using a larger ball spline is also possible but has a problem that manufacture is difficult and costs.
  • an object of the present invention is to provide an actuator capable of reducing a shock in acceleration at the time of a turn caused by a load in a lateral direction orthogonal to an axis of the actuator even in a case where the load is excessive while reducing manufacturing cost and manufacturing man-hours, and a tripod structure including the actuator.
  • an actuator includes a pipe, a ball screw used as a feed screw and arranged within the pipe, a conversion nut used as a feed nut, arranged within the pipe, and screwed with the ball screw, the conversion nut converting a rotary motion into a linear motion, a piston arranged within the pipe, fixed integrally to the conversion nut, and driven to expand and contract from a free end which is one end of the pipe, and a support mechanism provided on a tip of the free end of the pipe, the support mechanism holding the piston movably.
  • the support mechanism is a rolling bearing structure including a plurality of roller followers.
  • the rolling bearing structure may include the plurality of roller followers and a holding unit in which the plurality of roller followers are arranged around the piston so that each of the plurality of roller followers rotates and holds the piston movably.
  • each of the plurality of roller followers may be preloaded with respect to the piston, so that the piston is preloaded and held.
  • the rolling bearing structure may be provided with the three or more roller followers.
  • a tripod structure includes the three actuators, the three actuators being connected to a moving base so as to be separated from each other at a central angle of 120° in an initial state as viewed from above, wherein the moving base can move in an X-Y direction on a sliding floor via an air bearing and can rotate around a Z axis (yaw motion).
  • changing the piston support unit from the sliding bearing to the rolling bearing enables reducing the frictional force of an entire actuator to half or less, and it is possible to provide the actuator capable of reducing by half a shock in acceleration at the time of a turn caused by a load in a lateral direction orthogonal to the axis of the actuator even in a case where the load is excessive while reducing manufacturing cost and manufacturing man-hours, and the tripod structure including the actuator.
  • a use range of a driving simulator can be expanded.
  • FIG. 1 is a diagram showing an example of a vibration system for a driving simulator.
  • a vibration system 10 for a driving simulator mainly includes a hexapod structure 100 and a tripod structure 200.
  • the hexapod structure 100 also called a Stewart platform, has a top plate 110 whose top is provided with a cockpit, the top plate 110 being connected to three portions each of which has two actuators 120, that is, to six actuators 120A, 120B, 120C, 120D, 120E, 120F to support the top plate 110.
  • a hydraulic jack or an electric actuator can be used as the actuators 120A, 120B, 120C, 120D, 120E, 120F used herein.
  • an electric actuator is used as shown in FIGs. 2(a) to 3(b) described later.
  • the lengths of the six actuators 120A, 120B, 120C, 120D, 120E, 120F are controlled, but the actuators are connected using universal joints so that their angles can be freely changed.
  • the hexapod structure 100 is configured to be capable of reproducing not only translational motions in three directions of X, Y, and Z axes consisting of the X and Y axes set on a sliding floor 240 plane described later and the Z axis perpendicular to the plane, but also rotary motions around each axis, that is, tilt motions with 6 degrees of freedom consisting of motions in a forward-backward direction, a left-right direction, and an up-down direction, a roll motion, a pitch motion, and a yaw motion, so that a driving state can be simulated based on a driving operation by an operator.
  • three actuators 220A, 220B, 220C are connected to a moving base 210 with the hexapod structure 100 described above mounted on the top so as to be separated from each other at a central angle of 120° in an initial state as viewed from above.
  • the lengths of the three actuators 220A, 220B, 220C are controlled, so that the moving base 210 can move in an X-Y direction on the sliding floor 240 via an air bearing 230 using air pressure or the like and can rotate around the Z axis (yaw motion).
  • a small-amplitude motion at a relatively high frequency is reproduced by the hexapod structure 100, and a large-amplitude motion at a relatively low frequency is reproduced by the tripod structure 200.
  • FIG. 2(a) is a longitudinal cross-section of a conventional actuator 20 used in the tripod structure 200 shown in FIG. 1 .
  • FIG. 2(b) is an enlarged view of a IIb portion shown in FIG. 2(a).
  • FIG. 2(c) is an enlarged view of a IIc portion shown in FIG. 2(a) .
  • the conventional actuator 20 includes a pipe 21, a ball screw 22, a conversion nut 23, a piston 24, a servomotor 25, and a sliding bearing unit 26.
  • the pipe 21 is formed in a cylindrical shape, and the ball screw 22, the conversion nut 23, and the piston 24 are arranged within the pipe 21.
  • the ball screw 22 is connected to the servomotor 25 by means of a timing belt mechanism (not shown) and is rotated and driven.
  • the conversion nut 23 is screwed with the ball screw 22, rotation is restricted in the pipe 21, and the conversion nut 23 is slid on an axis in the pipe 21 as the ball screw 22 rotates.
  • the conversion nut 23 is slidably held within the pipe 21 by a sliding bearing.
  • the ball screw 22 constitutes a feed screw
  • the conversion nut 23 constitutes a feed nut.
  • the piston 24 is fixed to the conversion nut 23 and is moved within the pipe 21 in accordance with the movement of the conversion nut 23.
  • the piston 24 is driven to expand and contract from the inside of a free end which is one end of the pipe 21, and constitutes a movable portion of the actuator 20. That is, in the actuator 20, the rotary motion of the ball screw 22 rotated and driven by the servomotor 25 is converted into the linear motion of the piston 24.
  • the sliding bearing unit 26 is provided on the tip of the free end which is the one end of the pipe 21, and holds the moving piston 24 slidably to constitute a support mechanism for the piston 24.
  • the conventional actuator 20 configured in such a manner has a problem that as shown in FIG. 7(a) described later, a shock is generated in the acceleration property of the actuator at the time of a turn, and may give a driver uncomfortableness.
  • an evaluator who evaluates the performance of a vehicle cannot determine whether the shock is due to a vehicle movement or a shock due to the simulator, which adversely affects a performance evaluation of the vehicle.
  • the cause of the problem is that using the actuator used in the tripod structure of the driving simulator as shown in FIG. 1 makes a frictional force excessive due to a load in a lateral direction orthogonal to an axis, that is, a moment caused by its own weight due to being installed horizontally with respect to gravity, a moment in a lateral direction generated by driving another actuator, or the like. Therefore, a description will be given below of an actuator according to the present invention that reduces by half a shock at the time of a turn in an acceleration, which has been a problem which the conventional actuator described above has.
  • FIG. 3(a) is a longitudinal cross-section of an actuator 220 according to the present invention.
  • FIG. 3(b) is an enlarged view of a IIIb portion shown in FIG. 3(a) .
  • the actuator 220 includes a pipe 221, a ball screw 222, a conversion nut 223, a piston 224, a servomotor 225, a rolling bearing unit 226, and a fixing flange 227.
  • the actuator 220 according to the present invention shown in FIGs. 3(a) and 3(b) is different from the conventional actuator 20 shown in FIGs. 2(a) to 2(c) mainly in that the rolling bearing unit 226 and the fixing flange 227 for fixing the rolling bearing unit 226 are provided as a support mechanism for the piston 224 instead of the sliding bearing unit 26, and is identical to the conventional actuator 20 in the other respects.
  • the same reference numerals are applied to the same constituent elements, and the descriptions thereof will be omitted.
  • the fixing flange 227 is, as shown in FIG. 3(b) , fixed to a tip of a free end of the pipe 221 with a stud bolt or the like, and the rolling bearing unit 226 is fixed to the fixing flange 227 with a bolt or the like, but the present invention is not limited to this configuration. That is, the rolling bearing unit 226 may be directly fixed to the tip of the free end of the pipe 221 without providing the fixing flange 227.
  • a rolling bearing generally has a friction coefficient of about 1/10 to 1/100 of a sliding bearing's friction coefficient of 0.1 to 0.2, resulting in significantly reducing a frictional force.
  • a ball spline instead of the conventional sliding bearing.
  • a roller follower is used in the rolling bearing unit 226 according to the present invention as described later, a roller follower of a relatively large size can be used, and the rolling bearing unit 226 also has resistance to a large load.
  • FIG. 4(a) is a perspective view showing the rolling bearing unit 226 shown in FIG. 3(b) .
  • FIG. 4(b) is a front view of the rolling bearing unit 226 shown in FIG. 4(a).
  • FIG. 4(c) is a side view of the rolling bearing unit 226 shown in FIG. 4(a) .
  • the rolling bearing unit 226 mainly includes four roller follower units 226A, 226B, 226C, 226D and a holding unit 226a for holding the roller follower units.
  • the four roller follower units 226A, 226B, 226C, 226D are provided, but any number of roller follower units may be provided as long as the number is three or more in order to hold a shaft core of the piston 224. Since the shapes of the roller follower units 226A, 226B, 226C, 226D are the same, the roller follower unit 226A is taken as an example to give a description below.
  • FIG. 5(a) is a partial cross-section for illustrating the rolling bearing unit 226 shown in FIG. 4(a) .
  • FIG. 5(b) is a partial cross-section showing the rolling bearing unit 226 shown in FIG. 4(a) from a direction different from that in FIG. 5(a) .
  • FIG. 6(a) is a perspective view showing the roller follower unit 226A of the rolling bearing unit 226.
  • FIG. 6(b) is a cross-sectional view showing the roller follower unit 226A.
  • a roller follower is a donut-shaped bearing in which a needle-shaped roller called a needle is incorporated
  • the roller follower unit 226A is mainly formed of a roller follower 226Aa, a shaft 226Ab which is arranged at the center of the roller follower 226Aa and serves as a rotation shaft, two yokes 226Ac which are arranged on both sides of the shaft 226Ab and hold the shaft 226Ab rotatably, and a grease nipple 226Ad arranged at one end of the shaft 226Ab for injecting lubricating grease into the roller follower 226Aa and the shaft 226Ab.
  • a preload screw 226P is used to apply a preload from behind the roller follower units 226A, 226B, 226C, 226D to the piston 224.
  • a preload screw 226P a full screw bolt is used herein to apply a preload to the yoke 226Ac of the roller follower unit 226A, but the present invention is not limited to this.
  • a method using a spring or another method may be used to apply a preload.
  • FIG. 7(a) is a diagram showing the acceleration property of the conventional actuator 20.
  • FIG. 7(b) is a diagram showing the acceleration property of the actuator 220 according to the present invention.
  • a vertical axis represents an acceleration and a horizontal axis represents time.
  • the acceleration properties of the actuators 20, 220 mean the acceleration properties of the tip portions of the pistons 24, 224, which are movable units of the actuators 20, 220.
  • FIG. 7(a) in the acceleration property of the conventional actuator 20, noises are generated near turning points in the acceleration, and it can be seen that shocks are generated.
  • FIG. 7(b) in the acceleration property of the tip portion of the actuator 220 according to the present invention, noises near the turning points in the acceleration are reduced by half, and it can be seen that the problem is improved.
  • the rolling bearing unit 226 can have resistance to the load by being provided with three or more roller follower units 226A or the like of a relatively large size having resistance to a large load. Further, a preload is applied to the piston 224 with a preload screw 226P or the like from behind the roller follower units 226A or the like, so that the piston 224 can be stably held even in a case where the load in the lateral direction is excessive.
  • the present invention may be used, for example, in transportation equipment such as automobiles, motorcycles, trains, aircraft, and ships, structures such as bridges, buildings, houses, and architecture, and test devices for conducting various tests such as a loading test conducted by applying an external force to structures under test such as parts of the above equipment and structures, a vibration test conducted by applying vibration thereto, and a simulation test, for example, of a driving state based on an operator's driving operation.
  • transportation equipment such as automobiles, motorcycles, trains, aircraft, and ships
  • structures such as bridges, buildings, houses, and architecture
  • test devices for conducting various tests such as a loading test conducted by applying an external force to structures under test such as parts of the above equipment and structures, a vibration test conducted by applying vibration thereto, and a simulation test, for example, of a driving state based on an operator's driving operation.
  • an actuator capable of reducing a shock in an acceleration at the time of a turn caused by a load in a lateral direction orthogonal to an axis of the actuator even in a case where the load is excessive while reducing manufacturing cost and manufacturing man-hours, and a tripod structure using the actuator.

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Theoretical Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Power Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Business, Economics & Management (AREA)
  • Educational Administration (AREA)
  • Educational Technology (AREA)
  • Electromagnetism (AREA)
  • Transmission Devices (AREA)
  • Bearings For Parts Moving Linearly (AREA)
  • Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
  • Instructional Devices (AREA)
  • Magnetic Bearings And Hydrostatic Bearings (AREA)
  • Apparatuses For Generation Of Mechanical Vibrations (AREA)
EP20855991.4A 2019-08-23 2020-06-22 Aktuator und stativstruktur damit Active EP3982519B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2019152948A JP7157021B2 (ja) 2019-08-23 2019-08-23 アクチュエータ及びこれを備えたトライポッド構造体
PCT/JP2020/024420 WO2021039058A1 (ja) 2019-08-23 2020-06-22 アクチュエータ及びこれを備えたトライポッド構造体

Publications (3)

Publication Number Publication Date
EP3982519A1 true EP3982519A1 (de) 2022-04-13
EP3982519A4 EP3982519A4 (de) 2023-06-21
EP3982519B1 EP3982519B1 (de) 2024-05-08

Family

ID=74676838

Family Applications (1)

Application Number Title Priority Date Filing Date
EP20855991.4A Active EP3982519B1 (de) 2019-08-23 2020-06-22 Aktuator und stativstruktur damit

Country Status (5)

Country Link
US (1) US11828410B2 (de)
EP (1) EP3982519B1 (de)
JP (1) JP7157021B2 (de)
CN (1) CN114127444B (de)
WO (1) WO2021039058A1 (de)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR3067155B1 (fr) * 2017-06-01 2022-01-28 Thales Sa Dispositif de securisation des mouvements electriques de plateformes mobiles pour simulateurs
JP7297151B2 (ja) * 2020-07-03 2023-06-23 深▲せん▼怡豊自動化科技有限公司 Ａｇｖ娯楽運輸工具及び接続組立体
JP7432902B1 (ja) 2022-10-21 2024-02-19 嘉明 村山 シミュレータ用駆動ユニット及びシミュレータ

Family Cites Families (22)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2368345A (en) * 1943-12-06 1945-01-30 Clyde W Clark Elevating screw
JPS5813706B2 (ja) 1974-10-17 1983-03-15 ナカタニ ヨシカズ ジヨウ
US6145395A (en) * 1999-01-19 2000-11-14 E-Drive Design, Inc. Side load compensated linear actuator
JP2001124175A (ja) 1999-10-29 2001-05-08 Iai:Kk アクチュエータ
JP4503866B2 (ja) * 2000-03-13 2010-07-14 Ｔｈｋ株式会社 転がり案内装置及びこの転がり案内装置を用いた駆動装置
JP2003065332A (ja) * 2001-08-23 2003-03-05 Nsk Ltd 直動案内装置
JP2004270746A (ja) * 2003-03-06 2004-09-30 Nsk Ltd 直動案内装置
GB0327457D0 (en) * 2003-11-26 2003-12-31 Goodrich Actuation Systems Ltd Linear actuator
JP2005325943A (ja) * 2004-05-14 2005-11-24 Hama International:Kk 移動装置
JP2006217779A (ja) * 2005-02-07 2006-08-17 Yasuo Fujii 減速機一体型アクチュエータ
JP4217981B2 (ja) * 2005-02-08 2009-02-04 Ｓｍｃ株式会社 直動・回転複合アクチュエータ
US20090049938A1 (en) * 2005-03-31 2009-02-26 Thk Co., Ltd. Electric Actuator
CN2938260Y (zh) * 2006-07-21 2007-08-22 上海申磬交通智能科技有限公司 一种用于驾驶模拟器的转向机构
DE102007006249A1 (de) * 2007-02-08 2008-08-14 Robert Bosch Gmbh Linearmodul
DE102011116631A1 (de) * 2011-10-20 2013-04-25 Robert Bosch Gmbh Linearbewegungsvorrichtung mit einer Verdrehsicherung, umfassend einen langgestreckten Gleitbelag
JP6038589B2 (ja) * 2012-10-17 2016-12-07 Ntn株式会社 直動案内装置
JP5746266B2 (ja) * 2013-06-07 2015-07-08 Thk株式会社 アクチュエータ
JP5813706B2 (ja) * 2013-08-08 2015-11-17 株式会社鷺宮製作所 加振装置、および、それを備えるシミュレーター用加振システム
JP2015040614A (ja) 2013-08-23 2015-03-02 株式会社鷺宮製作所 アクチュエータ
JP2017067229A (ja) * 2015-10-01 2017-04-06 株式会社スター精機 樹脂成形品取出し機の直動案内装置
CN208590745U (zh) * 2017-08-09 2019-03-12 东莞市伟宏五金塑胶制品有限公司 防夹手电动推杆与电动头枕架
US20190145504A1 (en) * 2017-11-16 2019-05-16 National Cheng Kung University Linear series elastic actuator

Also Published As

Publication number Publication date
EP3982519A4 (de) 2023-06-21
CN114127444B (zh) 2024-07-23
WO2021039058A1 (ja) 2021-03-04
CN114127444A (zh) 2022-03-01
US11828410B2 (en) 2023-11-28
JP7157021B2 (ja) 2022-10-19
US20220252210A1 (en) 2022-08-11
EP3982519B1 (de) 2024-05-08
JP2021030156A (ja) 2021-03-01

Similar Documents

Publication Publication Date Title
EP3982519A1 (de) Aktuator und stativstruktur damit
JP5916893B2 (ja) 試験装置
JP5389268B2 (ja) 可動プラットフォーム
JP5963883B2 (ja) 試験装置
US8403673B2 (en) Motion platform system
KR101228129B1 (ko) 무한회전 다축 구동 모션 시스템
US7080565B2 (en) Dynamic load fixture for rotary mechanical systems
CN105009183A (zh) 模拟器
US20220215771A1 (en) Motion generator
US10613574B2 (en) Control stick of motion simulator
KR101262863B1 (ko) 6자유도 병렬 기구
EP3278323A1 (de) Bewegungsanordnung
KR101176414B1 (ko) 4자유도 구동장치 및 이를 이용한 4자유도 시뮬레이터 운동 장치
KR101146947B1 (ko) 4자유도 운동제한장치 및 이를 이용한 시뮬레이터 운동 장치
KR101996464B1 (ko) 병렬 로보틱 시스템, 컴퓨터프로그램, 및 상기 병렬 로보틱 시스템을 포함하는 콘텐츠 서비스 제공 방법
JP2007083895A (ja) 宇宙機運動模擬装置
JP7406087B2 (ja) 衝撃試験装置及び衝撃試験方法
JP2023536227A (ja) 陸上車両の運転をシミュレートする装置
US11610503B2 (en) Actuator and tripod structure comprising actuator
KR102549499B1 (ko) 구동 부하 시험 장치
EP4108305B1 (de) Bewegungssimulationsgerät
US20230014817A1 (en) Control surface load simulation apparatus having reaction force providing structure
Kallweit et al. Developing a climbing maintenance robot for tower and rotor blade service of wind turbines
CN116252974A (zh) 一种用于地面卫星模拟器的二维转台
DE102021101369A1 (de) Fahrsimulator zur Simulation von Fahrbewegungen eines Fahrzeuges

Legal Events

Date Code Title Description
STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE INTERNATIONAL PUBLICATION HAS BEEN MADE

PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE

17P Request for examination filed

Effective date: 20220107

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

DAV Request for validation of the european patent (deleted)
DAX Request for extension of the european patent (deleted)
A4 Supplementary search report drawn up and despatched

Effective date: 20230524

RIC1 Information provided on ipc code assigned before grant

Ipc: H02K 5/24 20060101ALI20230517BHEP

Ipc: H02K 5/16 20060101ALI20230517BHEP

Ipc: F16H 25/20 20060101ALI20230517BHEP

Ipc: F16C 29/00 20060101ALI20230517BHEP

Ipc: F16C 13/00 20060101ALI20230517BHEP

Ipc: B06B 1/10 20060101ALI20230517BHEP

Ipc: G09B 9/04 20060101ALI20230517BHEP

Ipc: F16H 25/24 20060101ALI20230517BHEP

Ipc: F16C 29/04 20060101ALI20230517BHEP

Ipc: H02K 7/06 20060101AFI20230517BHEP

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: EXAMINATION IS IN PROGRESS

17Q First examination report despatched

Effective date: 20230928

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: GRANT OF PATENT IS INTENDED

GRAJ Information related to disapproval of communication of intention to grant by the applicant or resumption of examination proceedings by the epo deleted

Free format text: ORIGINAL CODE: EPIDOSDIGR1

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: EXAMINATION IS IN PROGRESS

INTG Intention to grant announced

Effective date: 20240108

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: GRANT OF PATENT IS INTENDED

INTC Intention to grant announced (deleted)
INTG Intention to grant announced

Effective date: 20240221

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE PATENT HAS BEEN GRANTED

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

REG Reference to a national code

Ref country code: GB

Ref legal event code: FG4D

REG Reference to a national code

Ref country code: CH

Ref legal event code: EP

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 602020030755

Country of ref document: DE

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: GB

Payment date: 20240619

Year of fee payment: 5

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: DE

Payment date: 20240606

Year of fee payment: 5

REG Reference to a national code

Ref country code: LT

Ref legal event code: MG9D

REG Reference to a national code

Ref country code: NL

Ref legal event code: MP

Effective date: 20240508

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20240908

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: BG

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20240508

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: FI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20240508

Ref country code: HR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20240508

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: GR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20240809

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: PT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20240909

REG Reference to a national code

Ref country code: AT

Ref legal event code: MK05

Ref document number: 1685829

Country of ref document: AT

Kind code of ref document: T

Effective date: 20240508

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: NL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20240508